US4775289A - Statically-balanced direct-drive robot arm - Google Patents
Statically-balanced direct-drive robot arm Download PDFInfo
- Publication number
- US4775289A US4775289A US07/100,929 US10092987A US4775289A US 4775289 A US4775289 A US 4775289A US 10092987 A US10092987 A US 10092987A US 4775289 A US4775289 A US 4775289A
- Authority
- US
- United States
- Prior art keywords
- linkage
- drive
- robot arm
- pivotal movement
- link
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/001—Arrangements compensating weight or flexion on parts of the machine
- B23Q11/0017—Arrangements compensating weight or flexion on parts of the machine compensating the weight of vertically moving elements, e.g. by balancing liftable machine parts
- B23Q11/0021—Arrangements compensating weight or flexion on parts of the machine compensating the weight of vertically moving elements, e.g. by balancing liftable machine parts the elements being rotating or pivoting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S700/00—Data processing: generic control systems or specific applications
- Y10S700/90—Special robot structural element
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
[m.sub.3 x.sub.3 -m.sub.4 l.sub.5 -m.sub.5 x.sub.5 ]sin θ.sub.3 =0
g[mt.sub.3 +m.sub.5 ]-m.sub.2 x.sub.2 -m.sub.3 [l.sub.2 -g]-m.sub.4 [x.sub.4 -g]-[m.sub.3 x.sub.3 -m.sub.4 l.sub.5 -m.sub.5 x.sub.5 ]cosθ.sub.3 =0
m.sub.3 x.sub.3 -m.sub.4 l.sub.5 -m.sub.5 x.sub.5 =0
g[mt.sub.3 +m.sub.5 ]-m.sub.2 x.sub.2 -m.sub.3 [l.sub.2 -g]-m .sub.4 [x.sub.4 -g]=0
Claims (9)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/100,929 US4775289A (en) | 1987-09-25 | 1987-09-25 | Statically-balanced direct-drive robot arm |
AU25442/88A AU2544288A (en) | 1987-09-25 | 1988-09-20 | Statically-balanced direct-drive robot arm |
PCT/US1988/003248 WO1989002810A1 (en) | 1987-09-25 | 1988-09-20 | Statically-balanced direct-drive robot arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/100,929 US4775289A (en) | 1987-09-25 | 1987-09-25 | Statically-balanced direct-drive robot arm |
Publications (1)
Publication Number | Publication Date |
---|---|
US4775289A true US4775289A (en) | 1988-10-04 |
Family
ID=22282256
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US07/100,929 Expired - Fee Related US4775289A (en) | 1987-09-25 | 1987-09-25 | Statically-balanced direct-drive robot arm |
Country Status (3)
Country | Link |
---|---|
US (1) | US4775289A (en) |
AU (1) | AU2544288A (en) |
WO (1) | WO1989002810A1 (en) |
Cited By (50)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5214749A (en) * | 1991-06-12 | 1993-05-25 | Massachusetts Institute Of Technology | Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage |
EP0595291A1 (en) * | 1992-10-30 | 1994-05-04 | International Business Machines Corporation | Improved remote center-of-motion robot for surgery |
FR2702698A1 (en) * | 1993-03-12 | 1994-09-23 | Israel Defence | Exoskeletal system. |
US5456561A (en) | 1989-03-07 | 1995-10-10 | Ade Corporation | Robot prealigner |
US5528955A (en) * | 1994-09-08 | 1996-06-25 | Hannaford; Blake | Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint |
US5637243A (en) * | 1993-09-27 | 1997-06-10 | Mitsubishi Denki Kabushiki Kaisha | Laser cutting machine |
US5805140A (en) * | 1993-07-16 | 1998-09-08 | Immersion Corporation | High bandwidth force feedback interface using voice coils and flexures |
US5821920A (en) * | 1994-07-14 | 1998-10-13 | Immersion Human Interface Corporation | Control input device for interfacing an elongated flexible object with a computer system |
US5825308A (en) * | 1996-11-26 | 1998-10-20 | Immersion Human Interface Corporation | Force feedback interface having isotonic and isometric functionality |
US5828197A (en) * | 1996-10-25 | 1998-10-27 | Immersion Human Interface Corporation | Mechanical interface having multiple grounded actuators |
US5880714A (en) * | 1993-07-16 | 1999-03-09 | Immersion Corporation | Three-dimensional cursor control interface with force feedback |
US5915673A (en) * | 1996-03-27 | 1999-06-29 | Kazerooni; Homayoon | Pneumatic human power amplifer module |
US5999168A (en) * | 1995-09-27 | 1999-12-07 | Immersion Corporation | Haptic accelerator for force feedback computer peripherals |
US6015473A (en) * | 1995-08-07 | 2000-01-18 | Immersion Corporation | Method for producing a precision 3-D measuring apparatus |
US6020875A (en) * | 1997-10-31 | 2000-02-01 | Immersion Corporation | High fidelity mechanical transmission system and interface device |
US6024576A (en) * | 1996-09-06 | 2000-02-15 | Immersion Corporation | Hemispherical, high bandwidth mechanical interface for computer systems |
US6050718A (en) * | 1996-03-28 | 2000-04-18 | Immersion Corporation | Method and apparatus for providing high bandwidth force feedback with improved actuator feel |
US6067077A (en) * | 1998-04-10 | 2000-05-23 | Immersion Corporation | Position sensing for force feedback devices |
US6100874A (en) * | 1995-11-17 | 2000-08-08 | Immersion Corporation | Force feedback mouse interface |
US6104382A (en) * | 1997-10-31 | 2000-08-15 | Immersion Corporation | Force feedback transmission mechanisms |
US6104158A (en) * | 1992-12-02 | 2000-08-15 | Immersion Corporation | Force feedback system |
US6166723A (en) * | 1995-11-17 | 2000-12-26 | Immersion Corporation | Mouse interface device providing force feedback |
US6246390B1 (en) | 1995-01-18 | 2001-06-12 | Immersion Corporation | Multiple degree-of-freedom mechanical interface to a computer system |
US6281651B1 (en) | 1997-11-03 | 2001-08-28 | Immersion Corporation | Haptic pointing devices |
FR2806022A1 (en) * | 2000-03-13 | 2001-09-14 | Abb Barras Provence | Manipulator for aligning and docking a device for testing integrated circuits with a handling device containing the components under test has a servo-actuator to compensate for the mass of the test device |
US6299139B1 (en) | 1996-03-27 | 2001-10-09 | Homayoon Kazerooni | Human power amplifier for vertical maneuvers |
USRE37528E1 (en) | 1994-11-03 | 2002-01-22 | Immersion Corporation | Direct-drive manipulator for pen-based force display |
US6354167B1 (en) | 2000-06-26 | 2002-03-12 | The United States Of America As Represented By The Secretary Of The Navy | Scara type robot with counterbalanced arms |
US6400352B1 (en) | 1995-01-18 | 2002-06-04 | Immersion Corporation | Mechanical and force transmission for force feedback devices |
FR2821825A1 (en) * | 2001-03-06 | 2002-09-13 | Philippe Peauger | Handling machine with deformable pivoting arm comprising articulated parallelogram structure which moves objects between two posts |
US6639581B1 (en) | 1995-11-17 | 2003-10-28 | Immersion Corporation | Flexure mechanism for interface device |
US6697748B1 (en) | 1995-08-07 | 2004-02-24 | Immersion Corporation | Digitizing system and rotary table for determining 3-D geometry of an object |
US6781569B1 (en) | 1999-06-11 | 2004-08-24 | Immersion Corporation | Hand controller |
US6801008B1 (en) | 1992-12-02 | 2004-10-05 | Immersion Corporation | Force feedback system and actuator power management |
US20050023424A1 (en) * | 2003-07-31 | 2005-02-03 | Agency For Science, Technology And Research | Passive gravity-compensating mechanisms |
US7131073B2 (en) | 1995-12-13 | 2006-10-31 | Immersion Corporation | Force feedback applications based on cursor engagement with graphical targets |
US7236157B2 (en) | 1995-06-05 | 2007-06-26 | Immersion Corporation | Method for providing high bandwidth force feedback with improved actuator feel |
CN1332785C (en) * | 2004-07-07 | 2007-08-22 | 哈尔滨工业大学 | Steel band decoupling complete translation parallel robot |
US7345672B2 (en) | 1992-12-02 | 2008-03-18 | Immersion Corporation | Force feedback system and actuator power management |
EP2177307A1 (en) * | 2007-07-30 | 2010-04-21 | Toyota Jidosha Kabushiki Kaisha | Work transfer apparatus |
US7850456B2 (en) | 2003-07-15 | 2010-12-14 | Simbionix Ltd. | Surgical simulation device, system and method |
US7944433B2 (en) | 1995-11-17 | 2011-05-17 | Immersion Corporation | Force feedback device including actuator with moving magnet |
US20120052477A1 (en) * | 2010-08-24 | 2012-03-01 | Zike, Llc | Four bar drive link system simulator |
US8500451B2 (en) | 2007-01-16 | 2013-08-06 | Simbionix Ltd. | Preoperative surgical simulation |
US8543338B2 (en) | 2007-01-16 | 2013-09-24 | Simbionix Ltd. | System and method for performing computerized simulations for image-guided procedures using a patient specific model |
US20140093861A1 (en) * | 2010-08-24 | 2014-04-03 | Zike, Llc | Four bar drive link system simulator |
US20160271806A1 (en) * | 2015-03-19 | 2016-09-22 | Kabushiki Kaisha Yaskawa Denki | Robot and method for mounting balancer to robot |
US9501955B2 (en) | 2001-05-20 | 2016-11-22 | Simbionix Ltd. | Endoscopic ultrasonography simulation |
US20180126548A1 (en) * | 2016-11-09 | 2018-05-10 | Kabushiki Kaisha Toshiba | Arm structure and transferring apparatus |
CN108621138A (en) * | 2018-07-06 | 2018-10-09 | 苏州宏奇锐自动化有限公司 | A kind of robot manipulator of high stability |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2658105B1 (en) * | 1990-02-09 | 1992-04-24 | Snecma | ADAPTABLE MOUNTING WITH TOOL HOLDER FOR ADJUSTMENT WITH ROBOT. |
Citations (13)
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---|---|---|---|---|
US3721416A (en) * | 1970-12-04 | 1973-03-20 | Conco Inc | Loading balancer |
US4140226A (en) * | 1976-06-18 | 1979-02-20 | H. A. Schlatter Ag | Industrial robot |
US4229136A (en) * | 1979-03-19 | 1980-10-21 | International Business Machines Corporation | Programmable air pressure counterbalance system for a manipulator |
US4341502A (en) * | 1979-10-12 | 1982-07-27 | Hiroshi Makino | Assembly robot |
US4359308A (en) * | 1979-01-29 | 1982-11-16 | Asahi Kogaku Kogyo Kabushiki Kaisha | Counterbalance device for laser knife |
US4364535A (en) * | 1979-07-18 | 1982-12-21 | Asahi Kogaku Kogyo Kabushiki Kaisha | Counterbalance mechanism for laser knife device |
US4383455A (en) * | 1980-10-21 | 1983-05-17 | Kobe Steel, Limited | Arm with gravity-balancing function |
US4455120A (en) * | 1981-02-25 | 1984-06-19 | Gesellschaft Fur Digitale Automation Mbh | Apparatus for weight balancing an industrial robot |
US4507043A (en) * | 1982-09-14 | 1985-03-26 | Textron, Inc. | Counterbalance robot arm |
US4552505A (en) * | 1982-11-19 | 1985-11-12 | American Robot Corporation | Industrial robot having direct coaxial motor drive |
US4648785A (en) * | 1984-11-19 | 1987-03-10 | Matsushita Electric Industrial Co., Ltd. | Industrial robot employing direct drive operation |
US4659278A (en) * | 1984-02-27 | 1987-04-21 | Stahl Aufzuge & Co. KG | Manipulator based on the pantograph principle |
US4717303A (en) * | 1985-02-25 | 1988-01-05 | Kabushiki Kaisha Meidensha | Joint mechanism for manipulators |
-
1987
- 1987-09-25 US US07/100,929 patent/US4775289A/en not_active Expired - Fee Related
-
1988
- 1988-09-20 WO PCT/US1988/003248 patent/WO1989002810A1/en unknown
- 1988-09-20 AU AU25442/88A patent/AU2544288A/en not_active Abandoned
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
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US3721416A (en) * | 1970-12-04 | 1973-03-20 | Conco Inc | Loading balancer |
US4140226A (en) * | 1976-06-18 | 1979-02-20 | H. A. Schlatter Ag | Industrial robot |
US4359308A (en) * | 1979-01-29 | 1982-11-16 | Asahi Kogaku Kogyo Kabushiki Kaisha | Counterbalance device for laser knife |
US4229136A (en) * | 1979-03-19 | 1980-10-21 | International Business Machines Corporation | Programmable air pressure counterbalance system for a manipulator |
US4364535A (en) * | 1979-07-18 | 1982-12-21 | Asahi Kogaku Kogyo Kabushiki Kaisha | Counterbalance mechanism for laser knife device |
US4341502A (en) * | 1979-10-12 | 1982-07-27 | Hiroshi Makino | Assembly robot |
US4383455A (en) * | 1980-10-21 | 1983-05-17 | Kobe Steel, Limited | Arm with gravity-balancing function |
US4455120A (en) * | 1981-02-25 | 1984-06-19 | Gesellschaft Fur Digitale Automation Mbh | Apparatus for weight balancing an industrial robot |
US4507043A (en) * | 1982-09-14 | 1985-03-26 | Textron, Inc. | Counterbalance robot arm |
US4552505A (en) * | 1982-11-19 | 1985-11-12 | American Robot Corporation | Industrial robot having direct coaxial motor drive |
US4659278A (en) * | 1984-02-27 | 1987-04-21 | Stahl Aufzuge & Co. KG | Manipulator based on the pantograph principle |
US4648785A (en) * | 1984-11-19 | 1987-03-10 | Matsushita Electric Industrial Co., Ltd. | Industrial robot employing direct drive operation |
US4717303A (en) * | 1985-02-25 | 1988-01-05 | Kabushiki Kaisha Meidensha | Joint mechanism for manipulators |
Non-Patent Citations (14)
Title |
---|
"A Precision Direct Drive Robot Arm", pp. 722-727, Proceedings 85 American Control Conference (1985), Kuwahara et al. |
A Precision Direct Drive Robot Arm , pp. 722 727, Proceedings 85 American Control Conference (1985), Kuwahara et al. * |
Asada, H. et al., "Analysis and Design of a Direct-Drive Arm with a Five-Bar-Link Parallel Drive Mechanism", ASME Journal of Dynamic Systems, Measurement and Control, vol. 106, no. 3, 1984, pp. 225-230. |
Asada, H. et al., Analysis and Design of a Direct Drive Arm with a Five Bar Link Parallel Drive Mechanism , ASME Journal of Dynamic Systems, Measurement and Control, vol. 106, no. 3, 1984, pp. 225 230. * |
Asada, H., et al., "A Direct-Drive Manipulator Development of a High Speed Manipulator", In Brain, R., Development in Robotics 1984, pp. 217-226. |
Asada, H., et al., "Design of Direct-Drive Mechanical Arms, ASME Journal of Vibration, Acoustics, Stress, and Reliability in Design, vol. 105, Jul. 1983, pp. 312-316. |
Asada, H., et al., "M.I.T. Direct-Drive Arm Project", Conference Proceedings of Robots 8, vol. 2, Robotics International of SME, 1984, pp. 16-10-16-21. |
Asada, H., et al., A Direct Drive Manipulator Development of a High Speed Manipulator , In Brain, R., Development in Robotics 1984, pp. 217 226. * |
Asada, H., et al., Design of Direct Drive Mechanical Arms, ASME Journal of Vibration, Acoustics, Stress, and Reliability in Design, vol. 105, Jul. 1983, pp. 312 316. * |
Asada, H., et al., M.I.T. Direct Drive Arm Project , Conference Proceedings of Robots 8, vol. 2, Robotics International of SME, 1984, pp. 16 10 16 21. * |
Mahalingam, S. et al., "The Optimal Balancing of the Robotic Manipulators", IEEE 1986 International Conf. on Robotics and Automation, vol. 2, Apr. 1986, pp. 828-835. |
Mahalingam, S. et al., The Optimal Balancing of the Robotic Manipulators , IEEE 1986 International Conf. on Robotics and Automation, vol. 2, Apr. 1986, pp. 828 835. * |
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Takase, K. et al., Design and Control of a Direct Drive Manipulator , Proceedings of the International Symposium on Design and Synthesis, Tokyo, Japan, Jul. 1984, pp. 347 352. * |
Cited By (80)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5456561A (en) | 1989-03-07 | 1995-10-10 | Ade Corporation | Robot prealigner |
US5214749A (en) * | 1991-06-12 | 1993-05-25 | Massachusetts Institute Of Technology | Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage |
EP0595291A1 (en) * | 1992-10-30 | 1994-05-04 | International Business Machines Corporation | Improved remote center-of-motion robot for surgery |
US6801008B1 (en) | 1992-12-02 | 2004-10-05 | Immersion Corporation | Force feedback system and actuator power management |
US6104158A (en) * | 1992-12-02 | 2000-08-15 | Immersion Corporation | Force feedback system |
US7345672B2 (en) | 1992-12-02 | 2008-03-18 | Immersion Corporation | Force feedback system and actuator power management |
FR2702698A1 (en) * | 1993-03-12 | 1994-09-23 | Israel Defence | Exoskeletal system. |
FR2716826A1 (en) * | 1993-03-12 | 1995-09-08 | Israel Defence | Exoskeletal device to assist the muscular work of a human being. |
US6046727A (en) * | 1993-07-16 | 2000-04-04 | Immersion Corporation | Three dimensional position sensing interface with force output |
US6366273B1 (en) | 1993-07-16 | 2002-04-02 | Immersion Corp. | Force feedback cursor control interface |
US6125337A (en) * | 1993-07-16 | 2000-09-26 | Microscribe, Llc | Probe apparatus and method for tracking the position and orientation of a stylus and controlling a cursor |
US5880714A (en) * | 1993-07-16 | 1999-03-09 | Immersion Corporation | Three-dimensional cursor control interface with force feedback |
US5805140A (en) * | 1993-07-16 | 1998-09-08 | Immersion Corporation | High bandwidth force feedback interface using voice coils and flexures |
US5929846A (en) * | 1993-07-16 | 1999-07-27 | Immersion Corporation | Force feedback interface device including grounded sensor system |
US6987504B2 (en) | 1993-07-16 | 2006-01-17 | Immersion Corporation | Interface device for sensing position and orientation and outputting force to a user |
US5637243A (en) * | 1993-09-27 | 1997-06-10 | Mitsubishi Denki Kabushiki Kaisha | Laser cutting machine |
US5821920A (en) * | 1994-07-14 | 1998-10-13 | Immersion Human Interface Corporation | Control input device for interfacing an elongated flexible object with a computer system |
US5528955A (en) * | 1994-09-08 | 1996-06-25 | Hannaford; Blake | Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint |
USRE37528E1 (en) | 1994-11-03 | 2002-01-22 | Immersion Corporation | Direct-drive manipulator for pen-based force display |
US6400352B1 (en) | 1995-01-18 | 2002-06-04 | Immersion Corporation | Mechanical and force transmission for force feedback devices |
US6697048B2 (en) | 1995-01-18 | 2004-02-24 | Immersion Corporation | Computer interface apparatus including linkage having flex |
US6201533B1 (en) | 1995-01-18 | 2001-03-13 | Immersion Corporation | Method and apparatus for applying force in force feedback devices using friction |
US7023423B2 (en) | 1995-01-18 | 2006-04-04 | Immersion Corporation | Laparoscopic simulation interface |
US6246390B1 (en) | 1995-01-18 | 2001-06-12 | Immersion Corporation | Multiple degree-of-freedom mechanical interface to a computer system |
US7821496B2 (en) | 1995-01-18 | 2010-10-26 | Immersion Corporation | Computer interface apparatus including linkage having flex |
US7236157B2 (en) | 1995-06-05 | 2007-06-26 | Immersion Corporation | Method for providing high bandwidth force feedback with improved actuator feel |
US7054775B2 (en) | 1995-08-07 | 2006-05-30 | Immersion Corporation | Digitizing system and rotary table for determining 3-D geometry of an object |
US6697748B1 (en) | 1995-08-07 | 2004-02-24 | Immersion Corporation | Digitizing system and rotary table for determining 3-D geometry of an object |
US6015473A (en) * | 1995-08-07 | 2000-01-18 | Immersion Corporation | Method for producing a precision 3-D measuring apparatus |
US5999168A (en) * | 1995-09-27 | 1999-12-07 | Immersion Corporation | Haptic accelerator for force feedback computer peripherals |
US6100874A (en) * | 1995-11-17 | 2000-08-08 | Immersion Corporation | Force feedback mouse interface |
US7253803B2 (en) | 1995-11-17 | 2007-08-07 | Immersion Corporation | Force feedback interface device with sensor |
US7106313B2 (en) | 1995-11-17 | 2006-09-12 | Immersion Corporation | Force feedback interface device with force functionality button |
US6166723A (en) * | 1995-11-17 | 2000-12-26 | Immersion Corporation | Mouse interface device providing force feedback |
US6639581B1 (en) | 1995-11-17 | 2003-10-28 | Immersion Corporation | Flexure mechanism for interface device |
US7944433B2 (en) | 1995-11-17 | 2011-05-17 | Immersion Corporation | Force feedback device including actuator with moving magnet |
US7131073B2 (en) | 1995-12-13 | 2006-10-31 | Immersion Corporation | Force feedback applications based on cursor engagement with graphical targets |
US6299139B1 (en) | 1996-03-27 | 2001-10-09 | Homayoon Kazerooni | Human power amplifier for vertical maneuvers |
US5915673A (en) * | 1996-03-27 | 1999-06-29 | Kazerooni; Homayoon | Pneumatic human power amplifer module |
US6050718A (en) * | 1996-03-28 | 2000-04-18 | Immersion Corporation | Method and apparatus for providing high bandwidth force feedback with improved actuator feel |
US6705871B1 (en) | 1996-09-06 | 2004-03-16 | Immersion Corporation | Method and apparatus for providing an interface mechanism for a computer simulation |
US7500853B2 (en) | 1996-09-06 | 2009-03-10 | Immersion Corporation | Mechanical interface for a computer system |
US6024576A (en) * | 1996-09-06 | 2000-02-15 | Immersion Corporation | Hemispherical, high bandwidth mechanical interface for computer systems |
US7249951B2 (en) | 1996-09-06 | 2007-07-31 | Immersion Corporation | Method and apparatus for providing an interface mechanism for a computer simulation |
US20060194180A1 (en) * | 1996-09-06 | 2006-08-31 | Bevirt Joeben | Hemispherical high bandwidth mechanical interface for computer systems |
US6946812B1 (en) | 1996-10-25 | 2005-09-20 | Immersion Corporation | Method and apparatus for providing force feedback using multiple grounded actuators |
US5828197A (en) * | 1996-10-25 | 1998-10-27 | Immersion Human Interface Corporation | Mechanical interface having multiple grounded actuators |
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Also Published As
Publication number | Publication date |
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WO1989002810A1 (en) | 1989-04-06 |
AU2544288A (en) | 1989-04-18 |
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